基于幅值裕度和相位裕度的PID参数最优整定方法

Optimal tuning method of PID controller based on gain margin and phase margin

给出一种基于幅值裕度和相位裕度的PID参数最优整定方法.首先,基于改进的D–分割法确定满足幅值裕度和相位裕度要求的控制参数稳定域,然后根据最大灵敏度函数、超调和调节时间定义控制器设计的目标函数,在所得到的控制参数稳定域中计算出一组最优的控制参数值.仿真结果表明,该整定方法能够保证闭环系统具有强鲁棒性、良好的跟踪性能和抗干扰性能.它不仅适用于稳定时滞对象,而且还适用不稳定时滞对象.

An optimal tuning method of PID controller based on gain margin and phase margin is proposed in this paper. The stability region of the controller parameters, which satisfies the required gain margin and phase margin, is first determined on the basis of the improved D-partition approach. Then, in the resultant stability region, the optimal control parameters are found in terms of the objective function related to maximal sensitivity function, overshoot and settling time. Simulation results also demonstrate that, the proposed tuning method ensures that the closed-loop system has strong robustness, good setpoint tracking performance and disturbance rejection performance. It is appropriate not only for stable plants with time delay but also for unstable time-delayed processes.